Mechanically Decoupled Closure Subsystem for Articulable Surgical Jaws
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Solution Overview
Problem
Existing robotic surgical systems face challenges in providing enhanced maneuverability and ease of use during minimally invasive procedures, particularly in maintaining natural hand-like articulation and reducing the need for awkward arm motions by surgeons.
Innovation Solution
The development of articulable wrists for surgical tools with multiple pivotably coupled links and a cable-driven motion system, allowing for improved degrees of freedom and independent control of end effectors, along with a modular design for sterilization and reduced clutter in the operating room.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a cable-driven motion system with multiple articulation links is used to achieve natural hand-like articulation, then the degrees of freedom and maneuverability are improved, but the device complexity increases
Solution Approach 1:
The wrist assembly is divided into multiple articulation links (first, second, and third links) that are pivotably coupled in series, with each link providing independent rotational degrees of freedom. This segmentation allows the system to achieve complex hand-like articulation through coordinated movement of discrete segments rather than a single complex joint.
Solution Approach 2:
Cable-driven actuation systems serve as intermediaries between the drive mechanism and the articulation links. The cables transmit force through the articulation links to enable remote actuation of the end effector, allowing complex movements to be controlled from a distance without direct mechanical coupling throughout the entire chain.
2Ease of operation
If drive cables extend through the wrist joint to articulate the end effector, then the ease of operation is improved, but the device complexity increases
Solution Approach 1:
The drive cables act as flexible intermediaries that transmit actuation forces through the articulated wrist structure. By using cables rather than rigid mechanical linkages, the system achieves ease of operation through remote actuation while accommodating the complex geometry of the articulation joints without requiring direct mechanical connections throughout.
Solution Approach 2:
The drive cables function as flexible elements that can bend and extend through the wrist joint assembly, allowing actuation forces to be transmitted through the articulated structure without constraining the range of motion. This flexibility enables simple cable-driven control of complex articulation.
3Adaptability or versatility
If multiple articulation links are used to achieve natural hand movements, then the adaptability is improved, but the loss of time for system operation increases
Solution Approach 1:
The articulation links are designed to move dynamically through coordinated rotation about different axes, allowing the end effector to achieve natural hand-like movements. The cable-driven system enables dynamic control of each link's position, allowing rapid reconfiguration between different articulation states without mechanical constraints that would slow movement.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables more intuitive and efficient performance of minimally invasive procedures with enhanced imaging and guidance, allowing surgeons to operate from an ergonomic position and reducing the need for complex arm movements.
Implementation Method 1
a cable driven motion system having one or more drive cables (or other elongate members) that extend through the wrist joint
Implementation Method 2
articulable wrists for surgical tools with multiple pivotably coupled links
Data Source
AI summary
A surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing jaws, and an articulable wrist interposing the end effector and the shaft and comprising a plurality of articulation links arranged in series along a longitudinal length of the wrist. A closure redirect mechanism includes first and second rigid links arranged proximal to the wrist, first and second transfer mechanisms pivotably mounted to the first and second rigid links, respectively, first and second transfer links interposing the end effector and the wrist, and first and second tension members extending distally from the first and second transfer mechanisms, respectively, and being secured to the first and second transfer links, respectively. Moving the first rigid link relative to the second rigid link, and vice versa, causes the first and second transfer links to correspondingly move and thereby open or close the jaws.